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Global Stabilization with Low Computational Cost of the Discrete-Time Chain of Integrators by Means of Bounded Controls

Nicolas Marchand 1 Ahmad Hably 1 Ahmed Chemori 2
1 GIPSA-SYSCO [2007-2015] - GIPSA - Systèmes non linéaires et complexité
GIPSA-DA [2007-2015] - Département Automatique
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The paper proposes a bounded nonlinear control law composed of saturation functions for the discrete time chain of integrators. A dynamical adaptation rule of the saturation levels involved in the control law is proposed to improve the closed-loop performances. The paper unifies the original work of Yang et al. (1997) with static saturation level and convergence improvements that recently appeared in the continuous time case. The possible ranges for the controller's parameters are extended regards to existing results.
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Submitted on : Wednesday, June 6, 2007 - 2:50:14 PM
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Nicolas Marchand, Ahmad Hably, Ahmed Chemori. Global Stabilization with Low Computational Cost of the Discrete-Time Chain of Integrators by Means of Bounded Controls. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2007, 52 (5), pp.948-952. ⟨10.1109/TAC.2007.895956⟩. ⟨lirmm-00152310⟩

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